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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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40
Marlin/src/gcode/host/M114.cpp
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@ -36,7 +36,7 @@
#include "../../core/debug_out.h"
#endif
void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
void report_xyze(const xyze_pos_t &pos, const uint8_t n=4, const uint8_t precision=3) {
char str[12];
for (uint8_t a = 0; a < n; a++) {
SERIAL_CHAR(' ');
@ -47,22 +47,27 @@
SERIAL_EOL();
}
inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
void report_xyz(const xyz_pos_t &pos, const uint8_t precision=3) {
char str[12];
for (uint8_t a = X_AXIS; a <= Z_AXIS; a++) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[a]);
SERIAL_CHAR(':');
SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
}
SERIAL_EOL();
}
inline void report_xyz(const xyze_pos_t &pos) { report_xyze(pos, 3); }
void report_current_position_detail() {
SERIAL_ECHOPGM("\nLogical:");
const float logical[XYZ] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS])
};
report_xyz(logical);
report_xyz(current_position.asLogical());
SERIAL_ECHOPGM("Raw: ");
report_xyz(current_position);
float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
xyze_pos_t leveled = current_position;
#if HAS_LEVELING
SERIAL_ECHOPGM("Leveled:");
@ -70,7 +75,7 @@
report_xyz(leveled);
SERIAL_ECHOPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
xyze_pos_t unleveled = leveled;
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
#endif
@ -153,7 +158,7 @@
SERIAL_EOL();
#if IS_SCARA
const float deg[XYZ] = {
const xy_float_t deg = {
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
};
@ -162,17 +167,12 @@
#endif
SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers);
const float diff[XYZE] = {
from_steppers[X_AXIS] - leveled[X_AXIS],
from_steppers[Y_AXIS] - leveled[Y_AXIS],
from_steppers[Z_AXIS] - leveled[Z_AXIS],
from_steppers[E_AXIS] - current_position[E_AXIS]
};
SERIAL_ECHOPGM("Differ: ");
const xyze_float_t diff = from_steppers - leveled;
SERIAL_ECHOPGM("Diff: ");
report_xyze(diff);
}